/// <summary>
/// Constructs a new SmcSettings object that has the default settings for a particular product.
/// </summary>
/// <param name="productId">The product ID of the device.
/// Pass this argument as 0 if the product ID is unknown at this time.
/// </param>
public SmcSettings(UInt16 productId)
{
this.productId = productId;
rc1 = SmcChannelSettings.defaultRCSettings();
rc2 = SmcChannelSettings.defaultRCSettings();
analog1 = SmcChannelSettings.defaultAnalogSettings();
analog2 = SmcChannelSettings.defaultAnalogSettings();
forwardLimits = new SmcMotorLimits();
reverseLimits = new SmcMotorLimits();
if (productId == 0xA5 || productId == 0xA9)
{
// For the versions with 40V MOSFETs:
highVinShutoffMv = 35000;
}
else
{
// For the versions with 30V MOSFETs:
highVinShutoffMv = 25000;
}
switch (productId)
{
case 0xA3: currentLimit = 921; break;
case 0xA5: currentLimit = 1096; break;
default:
case 0xA7: currentLimit = 776; break;
case 0xA9: currentLimit = 1153; break;
}
}
private static void fixMotorLimits(SmcMotorLimits ml, string directionName, List <String> warnings)
{
if (ml.maxSpeed > 0 && ml.startingSpeed > ml.maxSpeed)
{
warnings.Add("The " + directionName + " max speed was non-zero and smaller than the " + directionName + " starting speed. " +
"The " + directionName + " max speed will be changed to 0 and the motor will not be " +
"able to drive in the " + directionName + " direction.");
ml.maxSpeed = 0;
}
if (ml.maxSpeed > 3200)
{
warnings.Add("The " + directionName + " max speed was greater than 3200 (100%) so it will be changed to 3200.");
ml.maxSpeed = 3200;
}
if (ml.maxAcceleration > 3200)
{
warnings.Add("The " + directionName + " max acceleration was greater than 3200 so it will be changed to 3200.");
ml.maxAcceleration = 3200;
}
if (ml.maxDeceleration > 3200)
{
warnings.Add("The " + directionName + " max deceleration was greater than 3200 so it will be changed to 3200.");
ml.maxDeceleration = 3200;
}
}
private static void writeMotorLimits(StreamWriter sw, string name, SmcMotorLimits ml)
{
writeU32(sw, name + "_max_speed", ml.maxSpeed);
writeU32(sw, name + "_max_acceleration", ml.maxAcceleration);
writeU32(sw, name + "_max_deceleration", ml.maxDeceleration);
writeU32(sw, name + "_brake_duration", ml.brakeDuration);
writeU32(sw, name + "_starting_speed", ml.startingSpeed);
}
/// <summary>
/// Compares this object to another to see if they have the same values.
/// </summary>
public override bool Equals(object x)
{
SmcMotorLimits s = x as SmcMotorLimits;
if (s == null)
{
return(false);
}
return(this.convertToStruct().Equals(s.convertToStruct()));
}
internal SmcSettings(UInt16 productId, SmcSettingsStruct s)
{
this.productId = productId;
// [Add-new-settings-here]
this.neverSleep = (s.b1 & SmcBoolSettings1.NeverSleep) != 0;
this.uartResponseDelay = (s.b1 & SmcBoolSettings1.UartResponseDelay) != 0;
this.useFixedBaudRate = (s.b1 & SmcBoolSettings1.UseFixedBaudRate) != 0;
this.disableSafeStart = (s.b1 & SmcBoolSettings1.DisableSafeStart) != 0;
this.enableI2C = (s.b1 & SmcBoolSettings1.EnableI2C) != 0;
this.ignoreErrLineHigh = (s.b1 & SmcBoolSettings1.IgnoreErrLineHigh) != 0;
this.tempLimitGradual = (s.b1 & SmcBoolSettings1.TempLimitGradual) != 0;
this.ignorePotDisconnect = (s.b1 & SmcBoolSettings1.IgnorePotDisconnect) != 0;
this.motorInvert = (s.b1 & SmcBoolSettings1.MotorInvert) != 0;
this.coastWhenOff = (s.b1 & SmcBoolSettings1.CoastWhenOff) != 0;
this.crcForCommands = (s.b1 & SmcBoolSettings1.CrcForCommands) != 0;
this.crcForResponses = (s.b1 & SmcBoolSettings1.CrcForResponses) != 0;
this.fixedBaudRateBps = Smc.convertBaudRegisterToBps(s.fixedBaudRateRegister);
this.speedUpdatePeriod = s.speedUpdatePeriod;
this.commandTimeout = s.commandTimeout;
this.serialDeviceNumber = s.serialDeviceNumber;
this.overTempCompleteShutoffThreshold = s.overTempCompleteShutoffThreshold;
this.overTempNormalOperationThreshold = s.overTempNormalOperationThreshold;
this.inputMode = s.inputMode;
this.pwmPeriodFactor = s.pwmPeriodFactor;
this.mixingMode = s.mixingMode;
this.minPulsePeriod = s.minPulsePeriod;
this.maxPulsePeriod = s.maxPulsePeriod;
this.rcTimeout = s.rcTimeout;
this.consecGoodPulses = s.consecGoodPulses;
this.vinScaleCalibration = s.vinScaleCalibration;
this.lowVinShutoffTimeout = s.lowVinShutoffTimeout;
this.lowVinShutoffMv = s.lowVinShutoffMv;
this.lowVinStartupMv = s.lowVinStartupMv;
this.highVinShutoffMv = s.highVinShutoffMv;
this.serialMode = s.serialMode;
this.rc1 = new SmcChannelSettings(s.rc1);
this.rc2 = new SmcChannelSettings(s.rc2);
this.analog1 = new SmcChannelSettings(s.analog1);
this.analog2 = new SmcChannelSettings(s.analog2);
this.forwardLimits = new SmcMotorLimits(s.forwardLimits);
this.reverseLimits = new SmcMotorLimits(s.reverseLimits);
this.currentLimit = s.currentLimit;
this.currentOffsetCalibration = s.currentOffsetCalibration;
this.currentScaleCalibration = s.currentScaleCalibration;
}
